基于NSGA-Ⅱ算法的AUV三维全局路径规划

Three-dimensional Global Path Planning of AUV Based on NSGA-Ⅱ Algorithm

针对自主水下航行器(AUV)在三维复杂环境下的路径规划问题,提出了一种适用于全局路径规划的NSGA-Ⅱ算法.结合实际情况建立了简单有效的三维地形环境模型,依据经济性和安全性原则设计了算法的路径长度和威胁度评价函数,通过快速Pareto排序及拥挤度距离计算选择路径点.为了保证路径的实用性,运用梯度下降法对路径进行平滑处理.仿真结果表明:改进后的算法在三维环境下不仅可以安全避开海底地形障碍,而且寻找最优解的能力及收敛速度都有较大提升.

Aiming at the path planning problem of autonomous underwater vehicle (AUV) in three-dimensional complex environment, an NSGA-Ⅱ algorithm for global path planning was proposed. Combined with the actual situation, a simple and effective three-dimensional terrain environment model was established. According to the principles of economy and security, the evaluation functions of path length and threat degree of the algorithm were designed, and the path points were selected by fast Pareto sorting and congestion distance calculation. Finally, in order to ensure the practicability of the path, the gradient descent method was used to smooth the path. Simulation results show that the improved algorithm can not only safely avoid the obstacles of seabed topography in 3D environment, but also greatly improve the ability of finding the optimal solution and convergence speed.